I've heard great things about Escapees and being a TX resident.
However, we ended up selecting SD as our domicile, and using MyDakotaAddress.com for our mail forwarding, legal address, etc. We have been extremely happy with the service, and they have assisted us every step of the way. One of the benefits of SD is only 3% tax on new vehicle purchases - and as we've purchased 3 vehicles and 2 different RVs since 'moving' there (we're not only nomadic about where we're parked, but also what we're parked in - apparently), this has paid off very well for us. We also like that they have no vehicle inspection.
As we have business ties in FL, we did end up forming our LLC there. If you do end up in FL for your business - I can recommend a great small business lawyer who is very nomad/vagabond/RVer aware & friendly. :)
We may eventually 'move' to Florida to consilidate everything, and if we did - St. Brendan's Isle is who we'd go with. As far as for our legal address there, we'd probably use my parent's address.
Best wishes,
- Cherie